Basic Characteristics RAPID

Syntax
for an ”incomplete movement”.
The instruction TriggC should never be started from the beginning with the robot in
position after the circle point. Otherwise the robot will not take the programmed path
(positioning around the circular path in another direction compared with that programmed).
TriggC
[’\’ Conc ’,’]
[ CirPoint ’:=’ ] < expression (IN) of robtarget > ’,’
[ ToPoint ’:=’ ] < expression (IN) of robtarget > ’,’
[ Speed ’:=’ ] < expression (IN) of speeddata >
[ ’\’ T ’:=’ < expression (IN) of num > ] ’,’
[Trigg_1 ’:=’ ] < variable (VAR) of triggdata >
[ ’\’ T2 ’:=’ < variable (VAR) of triggdata > ]
[ ’\’ T3 ’:=’ < variable (VAR) of triggdata > ]
[ ’\’ T4 ’:=’ < variable (VAR) of triggdata > ] ‘,’
[Zone ’:=’ ] < expression (IN) of zonedata > ‘,’
[ Tool ’:=’ ] < persistent (PERS) of tooldata >
[ ’\’ WObj ’:=’ < persistent (PERS) of wobjdata > ] ’;’
Related information
Described in:
Linear movement with triggers Instructions - TriggL
Joint movement with triggers Instructions - TriggJ
Definition of triggers Instructions - TriggIO, TriggEquip
TriggInt
Circular movement Motion Principles - Positioning during
Program Execution
Definition of velocity Data Types - speeddata
Definition of tools Data Types - tooldata
Definition of work objects Data Types - wobjdata
Motion in general Motion Principles
8-TriggC-4 RAPID Reference Manual